A displacement control method for industrial robots

Abstract

This invention relates to the field of robotics technology and discloses an industrial robot displacement control method, comprising the following steps: Step 1, establishing a data storage module, a data analysis module, a data optimization module, and a data control module; Step 2, storing industrial data and collecting robot activity trajectory data in the data storage module; Step 3, performing data calculations in the data analysis module; Step 4, using the calculated data in the data optimization module to adjust module parameters and optimize system control functions; Step 5, issuing optimization implementation commands in the data control module. The system can determine stability based on the calculation results, promptly issue danger warnings to relevant departments, and take corresponding safety measures, such as pausing robot movement or adjusting its motion parameters, thereby adjusting the robot's motion trajectory in a timely manner to ensure it moves along the expected path, helping to reduce the risk of collisions caused by inaccurate displacement.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a displacement control method for industrial robots. Background Technology

[0002] In traditional industrial robot operation, the inability to effectively control displacement often leads to collisions with the surrounding environment. This not only impacts production efficiency but can also cause equipment damage and safety hazards. Therefore, researching an effective displacement control method for industrial robots is crucial to address this issue.

[0003] Most existing industrial robots are programmed using a teach-in method, which is inefficient and relies heavily on the robot's repeatability. However, in high-precision operations such as arc welding and laser cutting, not only is high repeatability required, but also high absolute positioning accuracy. Traditional position control methods struggle to meet these demands, especially under the influence of factors such as temperature variations, which can affect the robot's absolute positioning accuracy and lead to a decline in work quality. Therefore, it is necessary to develop a new displacement control method to improve the robot's positioning accuracy and work efficiency. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides an industrial robot displacement control method that offers the advantages of safe displacement and precise positioning. It solves the problem that in traditional industrial robot operation, the robot is prone to collisions with its surroundings during movement due to the inability to properly control displacement.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention provides the following technical solution: a displacement control method for an industrial robot, comprising the following steps:

[0008] Step 1: Establish data storage module, data analysis module, data optimization module, and data control module;

[0009] Step 2: Store industrial data and collected robot activity trajectory data in the data storage module;

[0010] Step 3: Perform data calculations in the data analysis module;

[0011] Step 4: In the data optimization module, the calculated data is used to adjust the module parameters and optimize the system control function;

[0012] Step 5: Issue the optimization implementation command in the data control module.

[0013] Preferably, the data storage module includes a robot performance data unit, a robot operation data unit, and a robot fault data unit. The robot performance data unit acquires robot performance data through position sensors, speed sensors, and torque sensors installed in the system. The robot operation data unit acquires robot operation data online through monitoring equipment. The robot fault data unit acquires robot fault data through monitoring equipment and historical fault data. After statistically analyzing the data within each unit, the robot performance data unit, robot operation data unit, and robot fault data unit connect to the data analysis module via a network.

[0014] Preferably, the data analysis module includes a robot displacement coincidence unit, a robot displacement fault unit, and a robot positioning unit. The robot displacement coincidence unit calculates the robot displacement coincidence index Jrl based on robot operation data. The robot displacement fault unit calculates the robot displacement fault occurrence rate Gv based on robot fault data. The robot positioning unit calculates the robot positioning accuracy Scf based on robot performance data. After the robot displacement coincidence unit, robot displacement fault unit, and robot positioning unit calculate the data, they are connected to the data optimization module via a network.

[0015] Preferably, the robot performance data includes recording the coordinates of the robot's actual position and the target position, and assigning data numbers to these coordinates. The coordinates of the robot's actual position are numbered as follows: The coordinates of the robot's target location are numbered as follows: .

[0016] Preferably, the robot operation data includes the robot's displacement deviation on the X-axis, Y-axis, and Z-axis, as well as the number of task executions, after the i-th task execution. These data are then numbered, with the robot's displacement deviation on the X-axis, Y-axis, and Z-axis, and the number of task executions respectively numbered as follows: , , , .

[0017] Preferably, the robot fault data statistics include the total number of operations performed by the robot and the number of robot displacement failures within a certain period, and the data is numbered accordingly. The total number of operations performed by the robot and the number of robot displacement failures within the certain period are respectively numbered as follows: , .

[0018] Preferably, the robot displacement coincidence unit calculates the robot displacement coincidence index based on the robot operation data. The calculation formula is as follows: In the formula, This represents the robot's displacement coincidence index. , , , Let X, Y, and Z represent the robot's displacement deviation along the X-axis, Y-axis, and Z-axis, respectively, and the number of times the task was executed after the i-th task execution. , , These represent the expected displacement of the robot along the X-axis, the expected displacement of the robot along the Y-axis, and the expected displacement of the robot along the Z-axis, respectively. This indicates the expected displacement.

[0019] Preferably, the robot displacement fault unit calculates the robot displacement fault occurrence rate based on robot fault data. The calculation formula is as follows: In the formula, This indicates the robot's displacement failure rate. , These represent the total number of operations performed by the robot and the number of times the robot's displacement failed within a certain period of time, respectively.

[0020] Preferably, the robot positioning unit calculates the robot positioning accuracy based on robot performance data. The calculation formula is as follows: In the formula, Indicates the robot's positioning accuracy. This indicates the actual coordinates of the robot's position. The coordinates represent the robot's target position. This indicates the maximum acceptable deviation distance during a positioning task.

[0021] Preferably, the data optimization module uses the robot displacement coincidence index. With robot positioning accuracy The adjustment module sets the maximum translation speed, minimum translation speed, maximum translation angle, and minimum translation angle based on the robot's displacement failure rate. The adjustment module includes the acceleration limit, target tolerance parameter, and oscillation reset distance; the data control module issues optimization implementation commands based on the adjusted parameters.

[0022] Compared with the prior art, the present invention provides a displacement control method for industrial robots, which has the following beneficial effects:

[0023] 1. This invention introduces a robot displacement coincidence index. The calculation of the robot displacement coincidence index A value close to 1 indicates a small deviation between the robot's actual and expected displacements, suggesting that the robot is in a stable state while performing its task. Conversely, a value close to 1 indicates a smaller deviation between the robot's actual and expected displacements, suggesting that the robot is in a stable state while performing its task. When the value is far from 1, it indicates that the robot is unstable while performing its task. The system can make a stability judgment based on this value, issue a danger warning to the relevant departments in a timely manner, and take corresponding safety measures, such as pausing the robot's movement or adjusting its movement parameters. This will help adjust the robot's movement trajectory in a timely manner, ensuring that it moves along the expected path and reducing the risk of collisions caused by inaccurate displacement.

[0024] 2. This invention calculates and analyzes the robot displacement failure rate online. The system can monitor the robot's operating status in real time, and when the robot's displacement failure rate occurs... When the abnormal increase exceeds 2%, the system will immediately issue an early warning and automatically perform system maintenance checks to avoid potential collision accidents.

[0025] 3. This invention calculates the robot's positioning accuracy. robot positioning accuracy This provides a quantitative indicator for robot performance evaluation. By comparing the positioning accuracy over different tasks or time periods, it helps assess the robot's performance under various working conditions, thereby optimizing the robot's control strategies and operating parameters. When the robot frequently experiences excessive positioning deviations during task execution, the positioning accuracy is... It can help engineers quickly locate problems, such as sensor failure, mechanical wear, or control malfunctions, which helps the system to diagnose and repair problems in a timely manner and reduce downtime. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figure 1 An industrial robot displacement control method includes the following steps:

[0029] Step 1: Establish data storage module, data analysis module, data optimization module, and data control module;

[0030] Step 2: Store industrial data and collected robot activity trajectory data in the data storage module;

[0031] Step 3: Perform data calculations in the data analysis module;

[0032] Step 4: In the data optimization module, the calculated data is used to adjust the module parameters and optimize the system control function;

[0033] Step 5: Issue the optimization implementation command in the data control module.

[0034] The data storage module includes a robot performance data unit, a robot operation data unit, and a robot fault data unit. The robot performance data unit acquires robot performance data through position sensors, speed sensors, and torque sensors installed in the system. The robot operation data unit acquires robot operation data online through monitoring equipment. The robot fault data unit acquires robot fault data through monitoring equipment and historical fault data. After statistically analyzing the data within their respective units, the robot performance data unit, robot operation data unit, and robot fault data unit connect to the data analysis module via a network.

[0035] The data analysis module includes a robot displacement coincidence unit, a robot displacement fault unit, and a robot positioning unit. The robot displacement coincidence unit calculates the robot displacement coincidence index based on the robot's operation data. The robot displacement fault unit calculates the robot displacement fault incidence rate based on robot fault data. The robot positioning unit calculates the robot's positioning accuracy based on the robot's performance data. The robot displacement coincidence unit, robot displacement fault unit, and robot positioning unit calculate the data and then connect to the data optimization module via a network.

[0036] Robot performance data includes recording the actual coordinates of the robot's reached position and the coordinates of the target position, and assigning data numbers. The actual coordinates of the robot's reached position are numbered as follows: The coordinates of the robot's target location are numbered as follows: .

[0037] The robot operation data includes the robot's displacement deviation on the X-axis, Y-axis, and Z-axis, as well as the number of task executions after the i-th task execution. These data are then numbered, with the X-axis, Y-axis, and Z-axis displacement deviations and the number of task executions respectively numbered as follows: , , , By statistically analyzing the above data, the displacement deviation of the robot on the X, Y, and Z axes can be monitored in real time.

[0038] The robot fault data is statistically analyzed, including the total number of operations performed by the robot and the number of robot displacement failures within a certain period. The data is then numbered accordingly. , .

[0039] The robot displacement coincidence unit calculates the robot displacement coincidence index based on the robot operation data. The calculation formula is as follows: In the formula, This represents the robot's displacement coincidence index. , , , Let X, Y, and Z represent the robot's displacement deviation along the X-axis, Y-axis, and Z-axis, respectively, and the number of times the task was executed after the i-th task execution. , , These represent the expected displacement of the robot along the X-axis, the expected displacement of the robot along the Y-axis, and the expected displacement of the robot along the Z-axis, respectively. This indicates the expected displacement.

[0040] The advantage is that by introducing the robot displacement coincidence index... The calculation of the robot displacement coincidence index A value close to 1 indicates a small deviation between the robot's actual and expected displacements, suggesting that the robot is in a stable state while performing its task. Conversely, a value close to 1 indicates a smaller deviation between the robot's actual and expected displacements, suggesting that the robot is in a stable state while performing its task. When the value is far from 1, it indicates that the robot's state is unstable while performing the task. The system can determine this based on the robot's displacement coincidence index. By assessing the stability of the index range, timely alarms are issued and corresponding safety measures are taken, such as pausing the robot's movement or adjusting its motion parameters, thereby adjusting the robot's motion trajectory in a timely manner to ensure that it moves along the expected path, which helps to reduce the risk of collisions caused by inaccurate displacement.

[0041] The robot displacement fault unit calculates the robot displacement fault incidence rate based on robot fault data. The calculation formula is as follows: In the formula, This indicates the robot's displacement failure rate. , These represent the total number of operations performed by the robot and the number of times the robot's displacement failed within a certain period of time, respectively.

[0042] The advantage is that it allows for online calculation and analysis of the robot's displacement failure rate. The system can monitor the robot's operating status in real time, and when the robot's displacement failure rate occurs... When the abnormal increase exceeds 2%, the system will immediately issue an early warning and automatically perform system maintenance checks to avoid potential collision accidents.

[0043] The robot positioning unit calculates the robot's positioning accuracy based on the robot's performance data. The calculation formula is as follows: In the formula, Indicates the robot's positioning accuracy. This indicates the actual coordinates of the robot's position. The coordinates represent the robot's target position. This indicates the maximum acceptable deviation distance during a positioning task.

[0044] The advantage is that it calculates the robot's positioning accuracy. robot positioning accuracy This provides a quantitative indicator for robot performance evaluation. By comparing the positioning accuracy over different tasks or time periods, it helps assess the robot's performance under various working conditions, thereby optimizing the robot's control strategies and operating parameters. When the robot frequently experiences excessive positioning deviations during task execution, the positioning accuracy is... It can help engineers quickly locate problems, such as sensor failure, mechanical wear, or control malfunctions, which helps the system to diagnose and repair problems in a timely manner and reduce downtime.

[0045] The data optimization module is based on the robot displacement coincidence index. With robot positioning accuracy The adjustment module sets the maximum translation speed, minimum translation speed, maximum translation angle, and minimum translation angle based on the robot's displacement failure rate. Adjust the acceleration limit, target tolerance parameters, and oscillation reset distance in the adjustment module;

[0046] The data control module issues optimization implementation commands based on the adjusted parameters.

[0047] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A displacement control method for an industrial robot, characterized in that, Includes the following steps: Step 1: Establish data storage module, data analysis module, data optimization module, and data control module; Step 2: Store industrial data and collected robot activity trajectory data in the data storage module; Step 3: Perform data calculations in the data analysis module; Step 4: In the data optimization module, the calculated data is used to adjust the module parameters and optimize the system control function; Step 5: Issue the optimization implementation command in the data control module; The robot operation data includes the robot's displacement deviation on the X-axis, Y-axis, and Z-axis, as well as the number of task executions after the i-th task execution. These data are then numbered, with the X-axis, Y-axis, and Z-axis displacement deviations and the number of task executions respectively numbered as follows: , , , ; The robot displacement coincidence unit calculates the robot displacement coincidence index based on robot operation data. The calculation formula is as follows: In the formula, This represents the robot's displacement coincidence index. , , , Let X, Y, and Z represent the robot's displacement deviation along the X-axis, Y-axis, and Z-axis, respectively, and the number of times the task was executed after the i-th task execution. , , These represent the expected displacement of the robot along the X-axis, the expected displacement of the robot along the Y-axis, and the expected displacement of the robot along the Z-axis, respectively. This indicates the expected displacement.

2. The displacement control method for an industrial robot according to claim 1, characterized in that: The data storage module includes a robot performance data unit, a robot operation data unit, and a robot fault data unit. The robot performance data unit acquires robot performance data through position sensors, speed sensors, and torque sensors installed in the system. The robot operation data unit acquires robot operation data online through monitoring equipment. The robot fault data unit acquires robot fault data through monitoring equipment and historical fault data. After statistically analyzing the data within their respective units, the robot performance data unit, robot operation data unit, and robot fault data unit connect to the data analysis module via a network.

3. The displacement control method for an industrial robot according to claim 1, characterized in that: The data analysis module includes a robot displacement coincidence unit, a robot displacement fault unit, and a robot positioning unit. The robot displacement coincidence unit calculates the robot displacement coincidence index based on robot operation data. The robot displacement fault unit calculates the robot displacement fault incidence rate based on robot fault data. The robot positioning unit calculates the robot positioning accuracy based on robot performance data. The robot displacement coincidence unit, robot displacement fault unit, and robot positioning unit calculate the data and then connect to the data optimization module via a network.

4. The displacement control method for an industrial robot according to claim 1, characterized in that: The robot performance data includes recording the actual coordinates of the robot's reached position and the coordinates of the target position, and assigning data numbers to these numbers. The actual coordinates of the robot's reached position are numbered as follows: The coordinates of the robot's target location are numbered as follows: .

5. The displacement control method for an industrial robot according to claim 1, characterized in that: The robot fault data statistics include the total number of operations performed by the robot and the number of robot displacement failures within a certain period, and the data are numbered accordingly. The total number of operations performed by the robot and the number of robot displacement failures within the same period are respectively numbered as follows: , .

6. The displacement control method for an industrial robot according to claim 5, characterized in that: The robot displacement fault unit calculates the robot displacement fault incidence rate based on robot fault data. The calculation formula is as follows: In the formula, This indicates the robot's displacement failure rate. , These represent the total number of operations performed by the robot and the number of times the robot's displacement failed within a certain period of time, respectively.

7. The displacement control method for an industrial robot according to claim 4, characterized in that: The robot positioning unit calculates the robot positioning accuracy based on robot performance data. The calculation formula is as follows: In the formula, Indicates the robot's positioning accuracy. This indicates the actual coordinates of the robot's position. The coordinates represent the robot's target position. This indicates the maximum acceptable deviation distance during a positioning task.

8. The displacement control method for an industrial robot according to claim 1, characterized in that: The data optimization module is based on the robot displacement overlap index. With robot positioning accuracy The adjustment module sets the maximum translation speed, minimum translation speed, maximum translation angle, and minimum translation angle based on the robot's displacement failure rate. Adjust the acceleration limit, target tolerance parameters, and oscillation reset distance in the adjustment module; The data control module issues optimization implementation commands based on the adjusted parameters.

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